Global UGV Path Planning on Point Cloud Maps Created by UAV

Fedorenko, Roman; Gabdullin, Aidar; Fedorenko, Anna

doi:10.1109/icite.2018.8492584

Cited by 18 publications

(9 citation statements)

References 7 publications

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“…A tensor voting framework is proposed in [11] to transform point cloud into a promising outcome for application of 3D path planning. Ortherwise, a direct way to do global path planning on point cloud maps is using an extremely dense point clouds as in [13]. According to the test dataset parameters table in [13], its point cloud density is δ ≥ 970 pts/m 2 .…”

Section: Algorithm Design and Workflowmentioning

confidence: 99%

“…Ortherwise, a direct way to do global path planning on point cloud maps is using an extremely dense point clouds as in [13]. According to the test dataset parameters table in [13], its point cloud density is δ ≥ 970 pts/m 2 . Such point cloud is not just computationally expensive, but also too difficult for SLAM to realize under the current technology.…”

Section: Algorithm Design and Workflowmentioning

confidence: 99%

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Point Cloud-Based Target-Oriented 3D Path Planning for UAVs

Zheng

Bewley

Kuester

2020

2020 International Conference on Unmanned Aircraft Systems (ICUAS)

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This paper explores 3D path planning for unmanned aerial vehicles (UAVs) in 3D point cloud environments. Derivative maps such as dense point clouds, mesh maps, octomaps, etc. are frequently used for path planning purposes. A target-oriented 3D path planning algorithm, directly using point clouds to compute optimized trajectories for an UAV, is presented in this article. This approach searches for obstacle-free, low computational cost, smooth, and dynamically feasible paths by analyzing a point cloud of the target environment, using a modified connect RRTbased path planning algorithm, with a k-d tree based obstacle avoidance strategy and three-step optimization. This presented approach bypasses the common 3D map discretization, directly xi leveraging point cloud data. Following trajectory generation, the algorithm creates way-point based, closed loop quadrotor controls for pitch, roll, and yaw attitude angle as well as dynamics commands for the UAV. Simulations of UAV 3D path planning based on different target points in the point cloud map are presented, showing the effectiveness and feasibility of this approach. xii

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Section: Algorithm Design and Workflowmentioning

confidence: 99%

Section: Algorithm Design and Workflowmentioning

confidence: 99%

Point Cloud-Based Target-Oriented 3D Path Planning for UAVs

Zheng

Bewley

Kuester

2020

2020 International Conference on Unmanned Aircraft Systems (ICUAS)

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“…It is also used for the effective route in UAVs. Graph or map of RRT algorithm based UGVs is also described 53 . In nonconvex high‐dimensional areas, new developments have been done for the RRT algorithm.…”

Section: Routing Techniquesmentioning

confidence: 99%

Routing and collision avoidance techniques for unmanned aerial vehicles: Analysis, optimal solutions, and future directions

Sharma

Obaidat

Sharma

et al. 2020

Int J Communication

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SummaryRouting remains the most important problem to be explored, for discovering an ideal pathway in unmanned aerial vehicles (UAVs). Several problems for identifying and targeting location continue giving the immense motility of UAVs. In routing planning, optimum decisions have to be taken for several vital operations for solving the issues in UAVs. Many types of routing techniques of UAVs, which have been used for many years, have been analyzed in this paper. Routing techniques aim to provide striking‐free surroundings to the UAVs and not only to find an optimum path but also the smallest path. Routing techniques play a vital part in the development of a secured way in a minimal time to reach the ultimate destination and hence much needed. There are various routing techniques, real‐time applications of UAVs which are elaborated in this paper, namely, representative, cooperative, and noncooperative techniques. In UAV, collision avoidance is very important for the obstacle‐free environment. Collision avoidance techniques are discussed for a safe environment of UAV. Further, the UAVs network communication coverage and connectivity by these techniques are discussed. Finally, we discuss the security and connectivity and future directions in UAV.

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“…Aerial mapping system was implemented in research [43], which contains example of usage of point cloud map, gathered from drone, for UGV traversable path planning. We utilize the same approach for data gathering, but use it for another application, namely trees filtering and ground surface estimation.…”

Section: Aerial Mapping Systemmentioning

confidence: 99%

Ground Profile Recovery from Aerial 3D LiDAR-Based Maps

Sabirova

Rassabin

Fedorenko

et al. 2019

2019 24th Conference of Open Innovations Association (FRUCT)

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The paper presents the study and implementation of the ground detection methodology with filtration and removal of forest points from LiDAR-based 3D point cloud using the Cloth Simulation Filtering (CSF) algorithm. The methodology allows to recover a terrestrial relief and create a landscape map of a forestry region. As the proof-of-concept, we provided the outdoor flight experiment, launching a hexacopter under a mixed forestry region with sharp ground changes nearby Innopolis city (Russia), which demonstrated the encouraging results for both ground detection and methodology robustness.

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Global UGV Path Planning on Point Cloud Maps Created by UAV

Cited by 18 publications

References 7 publications

Point Cloud-Based Target-Oriented 3D Path Planning for UAVs

Point Cloud-Based Target-Oriented 3D Path Planning for UAVs

Routing and collision avoidance techniques for unmanned aerial vehicles: Analysis, optimal solutions, and future directions

Ground Profile Recovery from Aerial 3D LiDAR-Based Maps

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